Positioning device and method of charging guide rail type robot based on photoelectric switch and code scanning system

Abstract

The invention discloses a positioning device of a charging guide rail type robot based on a photoelectric switch and a code scanning system. The positioning device comprises a control system, a communication interface, an I / O interface, the code scanning system, a driving system, the photoelectric switch and a walking mechanism. The control system performs information interaction with the code scanning system through a communication interface and is used for identifying the parking space code of each charging parking space and sensing the operation state of the robot through an I / O interface and a photoelectric switch; the control system controls the driving system to drive the robot to move on the walking mechanism according to recognized and sensed information so as to achieve precise positioning of the robot, and the technology is combined with a photoelectric switch and a code scanning system so as to achieve precise and reliable positioning when the robot carries the charging distributor to a target parking space.

Description

Technical Field

[0001] The present invention relates to the field of new energy vehicle charging, and in particular to a positioning control technology and method for a rail-type charging robot. The method utilizes a photoelectric switch and a code scanning system to achieve accurate and reliable positioning of a robot carrying a charging distributor to a target parking space. Background Art

[0002] With the rapid development of the new energy vehicle industry, the market demand for efficient charging facilities is rising sharply. Faced with the need for large-scale deployment of charging robots, the existing positioning control technology of rail-type charging robots has not yet been able to fully meet the complex and changing charging station environment in terms of adaptability and cost-effectiveness. At present, common positioning technologies include laser ranging, barcode recognition and visual positioning. However, laser ranging technology has limitations in detection distance and is easily affected by ambient temperature, making it unsuitable for curved tracks; barcode positioning technology has high hardware costs and high requirements for the communication interface of the controller; and although visual positioning technology is advanced, its implementation process is complex and sensitive to environmental changes. Therefore, in order to adapt to the diverse needs of charging stations and strike a balance in cost control, it is urgent to develop a new positioning control technology that is both economical and stable and reliable. Summary of the invention

[0003] In view of the shortcomings of the prior art, the present invention provides a positioning device and method for a charging rail robot based on a photoelectric switch and a code scanning system, and provides a low-cost positioning control technology and method for a rail-type charging robot. The technology combines photoelectric switches and a code scanning system to achieve accurate and reliable positioning of the robot when carrying a charging dispenser to a target parking space.

[0004] To achieve the above purpose, the present invention provides the following technical solutions A positioning control device for a charging rail robot based on a photoelectric switch and a code scanning system comprises a control system, a communication interface, an I / O interface, a code scanning system, a drive system, a photoelectric switch and a walking mechanism; the control system exchanges information with the code scanning system through the communication interface to identify the parking space code of each charging parking space, and senses the operating status of the robot through the I / O interface and the photoelectric switch; the control system drives the robot to move on the walking mechanism by controlling the drive system according to the identified and sensed information to achieve precise positioning of the robot.

[0005] As a further solution of the present invention, the communication interface is used for data exchange between the robot controller and the code scanning system.

[0006] As a further solution of the present invention, the I / O interface is used to provide input and output functions, allowing the robot controller to interact with external devices.

[0007] As a further solution of the present invention, the code scanning system is used to identify the QR code of each charging parking space to ensure the correctness of the charging target and the robot's walking position.

[0008] As a further solution of the present invention, the photoelectric switch is used for state perception of the robot during walking, ensuring that the robot decelerates at an appropriate time and stops accurately at the target position.

[0009] As a further solution of the present invention, the driving system is used to enable the robot to move to a specified position, and the walking mechanism is used to enable the robot to move on a track.

[0010] The present invention also provides a positioning control method for a charging rail robot based on a photoelectric switch and a code scanning system, comprising the following steps: Step S1: starting the positioning process of the charging robot, the robot receives the instruction to start positioning and prepares to perform the task; Step S2: Using the robot to identify the current location using a barcode scanner, the robot can obtain accurate location information by scanning the QR code preset in the charging station; Step S3: Determine the relationship between the current position and the target position; Step S4: Make adjustments based on the robot's motion state to ensure that the robot stops accurately at the target position.

[0011] As a further solution of the present invention, in step S3, if the current position is smaller than the target position, the robot moves forward; if the current position is larger than the target position, the robot moves reversely; if the current position is equal to the target position, the robot stops running.

[0012] As a further solution of the present invention, in step S3, if moving forward: the process includes forward high-speed operation, forward deceleration trigger, and forward low-speed operation; if moving reversely: the process includes reverse high-speed operation, reverse deceleration trigger, and reverse low-speed operation.

[0013] As a further solution of the present invention, in step S3, the current position is determined by counting adjustment during the movement process. Specifically, when the robot moves forward, the current position count is +1 each time it passes a charging position; when the robot moves reversely, the current position count is -1 each time it passes a charging position.

[0014] The present invention has the following beneficial effects: The present invention uses photoelectric switches and code scanning to identify the current position of the robot using a code scanner, which is the key to the positioning control process. By scanning the QR code preset in the charging station, the robot can obtain accurate location information, ensuring that the robot can accurately navigate and improve the adaptability of positioning technology, as well as positioning technology that can adapt to various charging station environments (including straight and curved tracks); reduce dependence on expensive hardware and reduce overall deployment and maintenance costs; simplify the implementation process: create a positioning solution that is easy to implement and maintain, reducing the need for complex algorithms and high-performance computing resources; ensure positioning accuracy and reliability: ensure that the new technology can meet the precise control requirements of the charging robot under various operating conditions; the present invention is a new charging robot positioning control technology that is both economical, efficient and reliable to meet the growing demand for new energy vehicle charging facilities.

[0015] In order to more clearly illustrate the structural features and effects of the present invention, the present invention is described in detail below in conjunction with the accompanying drawings and specific embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 The figure is a schematic diagram of the system structure of the positioning control device of the charging rail robot based on the photoelectric switch and the code scanning system of the present invention.

[0017] Figure 2 The figure is a flow chart of the positioning control method of the charging rail robot based on the photoelectric switch and the code scanning system of the present invention. DETAILED DESCRIPTION

[0018] The present invention will be further explained below in conjunction with the accompanying drawings and related knowledge, and described clearly and completely. Obviously, the described application is only a part of the embodiments of the present invention, rather than all the embodiments.

[0019] Disadvantages of existing conventional robot positioning technology: Positioning by laser ranging: Limited detection distance: Laser ranging may not provide sufficient coverage at longer distances. Environmental sensitivity: Susceptible to changes in ambient temperature, resulting in reduced positioning accuracy. Not suitable for curved tracks: Laser ranging cannot be applied in scenarios using curved tracks.

[0020] Barcode positioning method: High hardware cost: expensive barcode reading equipment is required, which increases the investment cost of the overall system. High requirements for controller communication interface: high-performance controller and communication interface are required to process data, which increases technical complexity and cost.

[0021] Visual positioning method: complex to implement: requires complex image processing algorithms and high-performance computing resources.

[0022] Environmental sensitivity: Vulnerable to lighting changes, occlusion and other environmental factors, resulting in unstable positioning.

[0023] The present invention provides a positioning control device for a charging rail robot based on a photoelectric switch and a code scanning system, referring to Figure 1 As shown in the structure, it includes a control system, a communication interface, an I / O interface, a code scanning system, a drive system, a photoelectric switch and a walking mechanism; the control system exchanges information with the code scanning system through the communication interface to identify the parking space code of each charging space, and senses the operating status of the robot through the I / O interface and the photoelectric switch; the control system drives the robot to move on the walking mechanism by controlling the drive system according to the identified and sensed information to achieve precise positioning of the robot.

[0024] Specifically, it includes: control system: as the core of the entire charging robot, it is responsible for coordinating and controlling all operations and functions of the robot; communication interface: used for data exchange between the robot controller and the code scanning system. I / O interface: provides input and output functions, allowing the robot controller to interact with external devices. Code scanning system: used to identify the QR code corresponding to each charging parking space to ensure the correctness of the charging target and the robot's walking position. Drive system: enables the robot to move to the specified position. Photoelectric switch: used for state perception during the robot's walking process, helping the robot to slow down at the right time and stop accurately at the target position. Walking mechanism: enables the robot to move on the track. The present invention develops a positioning technology that can adapt to various charging station environments (including straight and curved tracks), specifically, it can adapt to various charging environments through a walking mechanism.

[0025] The present invention realizes high-frequency recognition of the current position of the charging robot through photoelectric switches and code scanning system recognition technology, and adjusts the robot's running direction and speed according to the recognition results until it reaches the target position; thereby being able to adapt to positioning technology in various charging station environments (including straight and curved tracks); reducing dependence on expensive hardware and reducing overall deployment and maintenance costs; simplifying the implementation process: creating a positioning solution that is easy to implement and maintain, reducing the demand for complex algorithms and high-performance computing resources; ensuring positioning accuracy and reliability: ensuring that the new technology can meet the precise control requirements of the charging robot under various operating conditions; the present invention's economical, efficient and reliable new charging robot positioning control technology can meet the growing demand for new energy vehicle charging facilities.

[0026] Reference Figure 2 As shown, the present invention provides a positioning control method for a charging rail type robot based on a photoelectric switch and a code scanning system based on a positioning control device of a charging rail type robot based on a photoelectric switch and a code scanning system, which specifically includes the following steps: Step S1: starting the positioning process of the charging robot, the robot receives the instruction to start positioning and prepares to perform the task; Step S2: Using the robot to use a barcode scanner to identify the current position, by scanning the QR code preset in the charging station, the robot can obtain accurate position information and realize the initial charging position positioning, which is the target position mentioned in the present invention; Step S3: Determine the relationship between the current position and the target position, and make adjustments according to the robot's motion state; specifically, if the current position is smaller than the target position, the robot moves forward, and if the current position is larger than the target position, the robot moves backward.

[0027] If the current position is equal to the target position, the robot stops running. The current position mentioned in the present invention is the position of the robot; the target charging position can be quickly located and moved to the target position at a high speed.

[0028] Furthermore, when forward movement is required: it includes forward high-speed operation, forward deceleration trigger, and forward low-speed operation. When reverse movement is required: it includes reverse high-speed operation, reverse deceleration trigger, and reverse low-speed operation.

[0029] Further optimization, refer to Figure 2 As shown, counting is performed during the movement. In actual application, the charging piles that have been moved are counted. <Current Position> count +1: When the robot moves forward, the current position count +1 each time it passes a charging position. <Current Position> count -1: When the robot moves backward, the current position count -1 each time it passes a charging position. Based on the above counting, the target position can be found more accurately.

[0030] Step S4: Ensure that the robot stops accurately at the target position. Figure 2 As shown, when the robot reaches the target position, it scans and identifies the target and determines the target position, thereby ensuring the accuracy of positioning, that is, reaching the stop position judgment: checking whether it has reached the predetermined stop position.

[0031] Finally, if the stop position is reached, the robot stops running and the positioning task is completed.

[0032] The present invention provides a low-cost guide rail robot positioning control technology. The present invention realizes the charging robot-positioning control logic through the combination of rapid movement, low-speed crawling positioning, automatic counting adjustment, and code scanning recognition confirmation, thereby ensuring the positioning accuracy and reliability of the robot.

[0033] The technical principle of the present invention is described above in combination with the specific embodiments, which are only preferred implementations of the present invention. The protection scope of the present invention is not limited to the above embodiments, and all technical solutions under the idea of ​​the present invention belong to the protection scope of the present invention. Those skilled in the art can think of other specific implementations of the present invention without creative work, and these methods will fall within the protection scope of the present invention.

Claims

1. A positioning device for a charging rail robot based on a photoelectric switch and a code scanning system, characterized in that: It includes a control system, a communication interface, an I / O interface, a code scanning system, a drive system, a photoelectric switch and a walking mechanism; the control system exchanges information with the code scanning system through the communication interface to identify the parking space code of each charging space, and senses the operating status of the robot through the I / O interface and the photoelectric switch; the control system drives the robot to move on the walking mechanism by controlling the drive system according to the identified and sensed information to achieve precise positioning of the robot.

2. The positioning device for a charging rail robot based on a photoelectric switch and a code scanning system as claimed in claim 1, characterized in that: The communication interface is used for data exchange between the robot controller and the code scanning system.

3. The positioning device for a charging rail robot based on a photoelectric switch and a code scanning system as claimed in claim 1, characterized in that: The I / O interface is used to provide input and output functions, allowing the robot controller to interact with external devices.

4. The positioning device for a charging rail robot based on a photoelectric switch and a code scanning system as claimed in claim 1, characterized in that: The code scanning system is used to identify the QR code of each charging parking space to ensure the correctness of the charging target and the robot's walking position.

5. The positioning device for a charging rail robot based on a photoelectric switch and a code scanning system as claimed in claim 1, characterized in that: The photoelectric switch is used for state perception of the robot during walking, ensuring that the robot decelerates at the appropriate time and stops accurately at the target position.

6. The positioning device for a charging rail robot based on a photoelectric switch and a code scanning system as claimed in claim 1, characterized in that: The driving system is used to enable the robot to move to a specified position, and the walking mechanism is used to enable the robot to move on a track.

7. A positioning method for a charging rail robot based on a photoelectric switch and a code scanning system, characterized in that: The following steps are involved: Step S1: starting the positioning process of the charging robot, the robot receives the instruction to start positioning and prepares to perform the task; Step S2: Using the robot to identify the current location using a barcode scanner, the robot can obtain accurate location information by scanning the QR code preset in the charging station; Step S3: Determine the relationship between the current position and the target position; Step S4: Make adjustments based on the robot's motion state to ensure that the robot stops accurately at the target position.

8. The positioning method of a charging rail robot based on a photoelectric switch and a code scanning system as claimed in claim 7, characterized in that: In step S3, if the current position is smaller than the target position, the robot moves forward; if the current position is larger than the target position, the robot moves backward; If the current position is equal to the target position, the robot stops.

9. The positioning method of a charging rail robot based on a photoelectric switch and a code scanning system as claimed in claim 8, characterized in that: In step S3, if moving in the forward direction: the process includes forward high-speed operation, forward deceleration triggering, and forward low-speed operation; if moving in the reverse direction: the process includes reverse high-speed operation, reverse deceleration triggering, and reverse low-speed operation.

10. The positioning method of a charging rail robot based on a photoelectric switch and a code scanning system as claimed in claim 9, characterized in that: In step S3, the current position is determined by counting and adjusting during the movement process. Specifically, when the robot moves forward, the current position count is increased by 1 each time it passes a charging position. When the robot moves in the reverse direction, the current position count is -1 each time it passes a charging position.

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